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I have seen instances where people managed to get this problem fixed themselves. the zoom mechanism, it seems, is not all that complex. If you think you've got nothing to lose (there is a risk factor) just take it apart and have a look. Good luck!

will the lens move in and out as normal? or is it stuck?
If it will move then the internal lens assembly has a problem.
If it won't move then that is causing the problem.
Will require internal inspection by someone who knows cameras

I'm not sure if this will work as I have yet to try this for my self. But according to others who have had this problem pulling lens out while camera is off and then restarting camera works. If this does work please notify. Or just tell me what happens when this is done

I had this error and did two things to fix it and am not really sure which worked, or it may have been both:1) Charge your batteries or replace with high power (2700) type2)Is there a bit of dirt stuck between the zoom bit and the body?

With my S1000fd, if I press the on/off while holding the zoom bit so it cannot come out fully, I get the "zoom error" message.

Try these:1) Make sure the lens cap is off. When the camera fires up, if it feels any resistance, it will stop zooming and tell you "zoom error"2) Recharge or fit new batteries. Use 2700 power if you can get them.3)Is there a bit of dirt between the zoom part and the camera body? I had this problem after my camera had been in my overcoat pocket. I cleared it out with a stiff artist's brush. Do NOT use WD 40 or similar, as I found to my cost on another camera. It eventually seeped through to the works and made all the pics cloudy!4) Hold the camera body in one hand and gently wiggle the zoom part from side to side and up to down.You will hear a quiet click in the mechanism.I have used my S1000fd lots now, and the initial "zoom error" problems have stopped.It's a fine little camera, I especially like the 12x zoom and the live histogram. Mine has taught me lots about photography.